Research on System Design and Motion Control of Biped Wheeled Legged Robot with Multi-terrain Adaptation in Lunar

摘要

In order to solve the problem that the existing lunar rover has too large volume, too rudimentary algorithm and too weak structure to be flexible and sturdy, this paper has carried out the research on the electromechanical system design and motion control of it, and designed a new prototype of the biped wheeled legged robot. This paper adopts the calculation of degrees of freedom, the solution of inverse kinematics, the dynamic analysis and the design of extended circuit to obtain the hardware structure of the robot; A control algorithm for the robot was designed through Kalman filter, fuzzy control, PID control and LQR control. After landing experiments and testing, the feasibility of the design under different gravity conditions was verified.